Dear dong,
is innovation (measurement error) vk = zk - hk a 9x1 vector in INS mode that include position , velocity , attitude (lat , long, alt , vn, ve, vd, roll , pitch , heading) ,and calculate from gps and ins ? if is it true? so, H (observation matrix) in EKF update is a matrix 9x16, am I right?
I need to some information for simulating in Matlab and programming in my Micro.
Best regards
Amin